Transfer robot and photovoltaic power generation system thereof

Abstract

The invention discloses a transfer robot and a photovoltaic power generation system of the transfer robot, and relates to the technical field of industrial robots. The carrying robot comprises an AGV trolley, and a photovoltaic power generation mechanism is mounted at the top of the AGV trolley; the photovoltaic power generation mechanism comprises a rectangular tubular shell, the middle of the shell is provided with a plate frame assembly in a matched mode through a rotating shaft, and the end of the plate frame assembly is connected with a photovoltaic panel assembly. A multi-section telescopic structure of which the output end is rotationally connected with the side wall of the farthest end of the photovoltaic panel assembly is mounted in the shell; meanwhile, the photovoltaic power generation system comprises a charging site, and a plurality of charging stations are arranged on the charging site. And during use, the transfer robot is controlled to move to the charging station for charging. According to the invention, through cooperative control of the foldable photovoltaic panel assembly and the multi-section telescopic mechanism, the photovoltaic panel can be completely accommodated in the shell during operation and unfolded during power generation, and protection and power generation efficiency are both considered.

Description

Technical Field

[0001] The present invention belongs to the technical field of industrial robots, and in particular relates to a transport robot and a photovoltaic power generation system thereof. Background Art

[0002] Handling operations play a very important role in modern industry. Handling robots are usually used in warehouses, factories or logistics centers to carry goods. Traditional industrial robots mainly rely on power grids or built-in batteries for operation. Their energy supply methods have the following limitations: (1) Industrial robots usually need to operate continuously for a long time (such as welding and assembly robots on automobile production lines). Although power grid power is stable, the energy consumption cost is high. Moreover, they are limited by fixed power supply facilities and cannot be flexibly deployed in outdoor or remote scenes without power grid coverage (such as mines and field infrastructure); (2) Fossil energy still accounts for more than 60% of the global industrial electricity demand, resulting in robots indirectly generating a large amount of carbon emissions. Summary of the Invention

[0003] The purpose of the present invention is to provide a handling robot and a photovoltaic power generation system thereof. Through the coordinated control of a foldable photovoltaic panel assembly and a multi-section telescopic mechanism, the photovoltaic panel can be completely stored in the shell during operation and unfolded during power generation, taking into account both protection and power generation efficiency, thereby solving the problems raised by the existing background technology.

[0004] To solve the above technical problems, the present invention is achieved through the following technical solutions:

[0005] The present invention provides a handling robot, including an AGV trolley, wherein at least one photovoltaic power generation mechanism is installed on the top of the AGV trolley; the photovoltaic power generation mechanism includes a rectangular tubular shell, a plate-frame assembly is installed on the middle part of the shell through a rotating shaft, and the end of the plate-frame assembly is connected to the photovoltaic panel assembly; the plate-frame assembly is composed of a plurality of plate frames, and the photovoltaic panel assembly is composed of a plurality of photovoltaic panels; two adjacent plate frames, two adjacent photovoltaic panels, and the photovoltaic panel and the plate frame are all connected by hinges A; a rotating shaft is connected between the opposite side walls of the shell, and one of the plate frames is provided with an axial hole that rotates with the rotating shaft; a mounting block is installed on the shell at both ends of any one of the plate-frame assemblies, and a multi-section telescopic structure that is telescopic in the horizontal direction is installed on one side of the mounting block, the end of the multi-section telescopic structure is connected to the connecting block, and a bearing is installed on the inner wall of the connecting block, and connecting shafts are respectively provided at both ends of the photovoltaic panel located at the farthest end of the photovoltaic panel assembly, and the end of the connecting shaft is assembled on the bearing;

[0006] When photovoltaic power generation is performed, the multi-section telescopic structure is controlled to extend, thereby driving the plate frame assembly and the photovoltaic panel assembly to unfold, and the photovoltaic panel assembly extends from the housing;

[0007] When carrying out the transport operation, the multi-section telescopic structure is controlled to shrink, which drives the plate frame assembly and the photovoltaic panel assembly to be stored. At this time, the plate frame assembly and the photovoltaic panel assembly are both located in the shell.

[0008] Furthermore, two photovoltaic power generation mechanisms are provided on the top of the AGV vehicle, and the two photovoltaic power generation mechanisms are stacked; the axial directions of the shells of the two photovoltaic power generation mechanisms are perpendicular to each other; and a solar power generation panel is provided on the top of the shell of the topmost photovoltaic power generation mechanism.

[0009] Furthermore, the bottoms of both ends of the shell are connected to end plates through hinges B; two vertical movable columns are provided at both ends of the shell, and the two movable columns are respectively located on both sides of the shell, and the two ends of the movable columns are respectively connected to slider A and slider B; the top and bottom of the shell are respectively provided with T-shaped guide rails and T-shaped slide grooves that cooperate with slider A and slider B; a connecting sleeve is fixed on the movable column by bolts, and a traction rope is connected to one side of the connecting sleeve, and the end of the traction rope is connected to the top of the inner wall of the end plate.

[0010] Furthermore, a rod sleeve is fixed on the connecting block and is sleeved on the outside of the multi-section telescopic structure, and a protruding driving block is provided at the end of the rod sleeve; when the multi-section telescopic structure contracts, the driving block abuts against one side of the slider B and drives the slider B to move into the shell along the length direction of the T-shaped slide groove.

[0011] Furthermore, the inner wall surface of the end plate and the top side surface of the shell are respectively provided with a pin block structure and a pin rod structure that cooperate with each other; the pin block structure includes an outer sleeve fixed to the inner wall surface of the end plate, an inner sleeve sleeved in the outer sleeve, a pin block connected to the end of the inner sleeve, and a spring connected between the pin block and the end plate; and a pin hole is provided on the pin block, and an inclined surface A is provided on an inner side wall of the pin hole away from the end plate; the pin rod structure includes at least one telescopic cylinder 1 fixed to the inner top side surface of the shell, the end of the telescopic cylinder 1 is connected to the movable plate, and one side of the movable plate is connected to an extension rod that cooperates with the pin block structure one by one, and the end of the extension rod is provided with a pin rod extending upward, and the side of the pin rod close to the movable plate is provided with an inclined surface B that cooperates with the inclined surface A.

[0012] Furthermore, an electrical installation cavity is provided inside the AGV trolley, in which an energy storage module and a central processing unit are installed; a driving wheel and a motion actuator for controlling the movement of the driving wheel are provided at the bottom of the AGV trolley; the energy storage module supplies power to the multi-section telescopic structure, the central processing unit, the telescopic cylinder 1 and the motion actuator; the central processing unit is connected to the telescopic cylinder 1 and the multi-section telescopic structure.

[0013] Furthermore, the AGV is also equipped with a sensor assembly consisting of a laser radar, a visual camera, an inertial measurement unit, an ultrasonic sensor, an infrared sensor and a 3D camera; the sensor assembly is connected to a central processing unit.

[0014] A photovoltaic power generation system includes a charging place, on which a number of charging stations are arranged. When in use, a transport robot is controlled to move to the charging station for charging; the charging station includes a foundation pit opened on the charging place, the inner wall of the foundation pit is provided with an annular groove, and a support plate rotating along the annular groove is provided in the annular groove; a motor with an output end connected to the support plate is provided on the bottom side of the foundation pit; telescopic cylinder A, telescopic cylinder B, telescopic cylinder C and telescopic cylinder D are fixed on the upper surface of the support plate; the telescopic cylinder A, telescopic cylinder B, telescopic cylinder C and telescopic cylinder D are all telescopic hydraulic cylinders; it also includes a support platform, the bottom side of the support platform is provided with four spherical sub-structures, the spherical sub-structures include a fixed base fixed to the bottom side of the support platform, and a ball head connecting rod connected to the top of the telescopic hydraulic cylinder; an inclination sensor connected to a central processing unit is installed on the support platform.

[0015] Furthermore, the support plate is a rectangular plate, and baffles are respectively provided on two adjacent edge sides of one of the support plate; rectangular holes are respectively provided on two other adjacent edge sides of the support plate, and a clamping module is provided on the bottom side of the support plate for clamping and fixing the AGV trolley parked on the support platform; the clamping module includes a vertical rod installed on the bottom side of the support plate at the end of the rectangular hole, and a telescopic cylinder 2 is horizontally installed on the end of the vertical rod, and a vertical telescopic cylinder 3 is installed on the end of the telescopic cylinder 2 through a connecting block, and a push block protruding from the rectangular hole is installed on the top of the telescopic cylinder 3.

[0016] Furthermore, guide grooves are provided on both sides of the push block, and the two adjacent inner walls of the rectangular hole are respectively provided with guide slides that cooperate with the guide grooves; the open end of the foundation pit is provided with a step portion that cooperates with the support platform; the inner wall of the foundation pit is provided with an avoidance groove along its vertical direction for avoiding the clamping module.

[0017] The present invention has the following beneficial effects:

[0018] The present invention uses the coordinated control of the foldable photovoltaic panel assembly and the multi-section telescopic mechanism to enable the photovoltaic panel to be completely stored in the shell during operation and unfolded during power generation, thereby taking into account both protection and power generation efficiency.

[0019] Of course, any product implementing the present invention does not necessarily need to achieve all of the advantages described above at the same time. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following briefly introduces the drawings required for describing the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0021] Figure 1 The structure of the handling robot of the present invention is shown as follows Figure 1 ;

[0022] Figure 2 The structure of the handling robot of the present invention is shown as follows Figure 2 ;

[0023] Figure 3 for Figure 1 Cross-sectional view of the handling robot;

[0024] Figure 4 for Figure 3 A partial enlarged view of point B in the middle;

[0025] Figure 5 for Figure 1 A partial enlarged view of the middle part;

[0026] Figure 6 The structure of the handling robot of the present invention is shown as follows Figure 3 ;

[0027] Figure 7 for Figure 6 Cross-sectional view of the handling robot;

[0028] Figure 8 for Figure 6 A partial enlarged view of point C in the middle;

[0029] Figure 9 for Figure 7 A partial enlarged view of point D in the middle;

[0030] Figure 10 The structure of the handling robot of the present invention is shown as follows Figure 4 ;

[0031] Figure 11 for Figure 10 The main view;

[0032] Figure 12 for Figure 11 A partial enlarged view of point E in the middle;

[0033] Figure 13 for Figure 11 A partial enlarged view of point F in the middle;

[0034] Figure 14 This is a schematic diagram of the charging site structure of the present invention;

[0035] Figure 15 This is a schematic diagram of the charging station structure of the present invention;

[0036] Figure 16 for Figure 15 A cross-sectional view of the charging station;

[0037] Figure 17 For the present invention Figure 16 A partial enlarged view of the K point in the middle;

[0038] In the accompanying drawings, the components represented by the reference numerals are as follows:

[0039] 1. AGV; 2. Housing; 3. Photovoltaic panel; 4. Charging station; 20. Solar panel; 21. Rotating shaft; 22. End plate; 23. T-shaped guide rail; 24. Slider A; 25. Slider B; 26. Movable column; 27. Connecting sleeve; 28. Telescopic cylinder 1; 29. Pin; 30. Hinge A; 31. Connecting shaft; 32. Connecting block; 33. Mounting block; 34. Multi-section telescopic structure; 35. Rod sleeve; 40. Foundation pit; 41. Telescopic cylinder A; 42. Telescopic cylinder B; 43. Telescopic cylinder C; 44. Support platform; 45. Telescopic cylinder D; 1 00, plate frame; 221, outer sleeve; 223, spring; 224, pin block; 225, pin hole; 226, inclined surface A; 270, traction rope; 271, bolt; 281, movable plate; 282, extension rod; 291, inclined surface B; 351, driving block; 400, support plate; 401, annular groove; 402, step portion; 403, avoidance groove; 441, baffle; 442, rectangular hole; 443, guide slide; 450, guide slide; 451, push block; 452, telescopic cylinder two; 453, connecting block; 454, telescopic cylinder three. DETAILED DESCRIPTION

[0040] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making any creative efforts shall fall within the scope of protection of the present invention.

[0041] In the description of the present invention, it should be understood that the terms "opening", "upper", "lower", "thickness", "top", "middle", "length", "inside", "around" and the like indicating orientation or positional relationship are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the components or elements referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as limiting the present invention.

[0042] See also Figure 1As shown, the present invention is a transport robot and a photovoltaic power generation system for cooperating with the transport robot and performing photovoltaic power generation; the transport robot includes an AGV trolley 1, at least one photovoltaic power generation mechanism is installed on the top of the AGV trolley 1, and the AGV trolley 1 is also equipped with a sensor assembly consisting of a laser radar, a visual camera, an inertial measurement unit, an ultrasonic sensor, an infrared sensor and a 3D camera, and the sensor assembly is connected to a central processing unit; Figure 14 The photovoltaic power generation system includes a charging place 4, on which a plurality of charging stations are arranged; when in use, the transport robot is controlled to move to the charging station for charging.

[0043] like Figure 2 As shown, in order to facilitate the control of the photovoltaic power generation mechanism to expand for charging according to demand, and to control the photovoltaic power generation mechanism to be stored according to demand and thus facilitate the control of the transport robot to perform transport operations, the present invention has two photovoltaic power generation mechanisms on the top of the AGV cart 1, and the two photovoltaic power generation mechanisms are stacked; a solar power generation panel 20 is provided on the top of the shell 2 of the topmost photovoltaic power generation mechanism.

[0044] Specifically, such as Figure 2 The photovoltaic power generation mechanism includes a rectangular tubular shell 2, and the axial directions of the shells 2 in the two photovoltaic power generation mechanisms are perpendicular to each other; and in order to facilitate the control of the photovoltaic power generation mechanism to be unfolded and stored; Figure 2-5 The present invention provides a housing 2 in which two plate-frame assemblies are mounted in the middle thereof through two rotating shafts 21. The ends of the plate-frame assemblies are connected to photovoltaic panel assemblies through hinges A30. The plate-frame assemblies are composed of a plurality of plate frames 100 sequentially connected by hinges A30. The photovoltaic panel assembly is composed of a plurality of photovoltaic panels 3 sequentially connected by hinges A30. Adjacent plate-frame assemblies are connected by hinges A30. At the same time, the folding mechanism composed of the photovoltaic panel 3, hinges A30 and plate frames 100 can be easily controlled to unfold and fold. To accommodate, a mounting block 33 is installed on the bottom side of the shell 2 at both ends of any panel-frame assembly. A multi-section telescopic structure 34 that can be extended and retracted in the horizontal direction is installed on one side of the mounting block 33. The end of the multi-section telescopic structure 34 is connected to the connecting block 32. A bearing is installed on the inner wall of the connecting block 32. Connecting shafts 31 are respectively provided at both ends of the photovoltaic panel 3 located at the farthest end of the photovoltaic panel assembly. The ends of the connecting shafts 31 are assembled on the bearings. The multi-section telescopic structure 34 adopts a three-stage hydraulic sleeve design, and the inner diameter tolerance of each stage of the sleeve is H7 / g6.

[0045] Then when using:

[0046] When photovoltaic power generation is performed, the multi-section telescopic structure 34 is controlled to extend, which drives the plate frame assembly and the photovoltaic panel assembly to unfold, and the photovoltaic panel assembly extends from the housing 2;

[0047] When carrying out the transport operation, the multi-section telescopic structure 34 is controlled to contract, thereby driving the plate frame assembly and the photovoltaic panel assembly to be stored. At this time, the plate frame assembly and the photovoltaic panel assembly are both located in the housing 2.

[0048] A rotating shaft 21 is connected between two opposite side walls of the housing 2 , and a plate frame 100 is provided with an axis hole 301 rotatably engaged with the rotating shaft 21 .

[0049] It can be known that in order to prevent dust in the environment from entering the housing 2 and then adhering to the photovoltaic panel 3 during the process of controlling the transport robot to perform the transport operation; Figure 6 End plates 22 are connected to the bottom of both ends of the shell 2 through hinges B. When the control end plates 22 are rotated to seal the end of the shell 2, the end plates 22 are used to seal the open ends of the shell 2, and then the end plates 22 are used to prevent dust in the environment from entering the interior of the shell 2 during use.

[0050] Based on the above, in order to facilitate the control of the folding mechanism during the unfolding and folding process, the end plate 22 is synchronously controlled to open and close; Figure 7-9 Two vertical movable columns 26 are provided at both ends of the housing 2. The two movable columns 26 are located on both sides of the housing 2. The two ends of the movable columns 26 are connected to the slider A24 and the slider B25 respectively; the top and bottom of the housing 2 are respectively provided with a T-shaped guide rail 23 and a T-shaped slide groove that cooperate with the slider A24 and the slider B25; a connecting sleeve 27 is fixed to the movable column 26 by a bolt 271, and one side of the connecting sleeve 27 is connected to the traction rope 270, and the end of the traction rope 270 is connected to the inner wall of the end plate 22. At the top, a rod sleeve 35 is fixed on the connecting block 32 and is sleeved on the outside of the multi-section telescopic structure 34. A protruding driving block 351 is set at the end of the rod sleeve 35; when the multi-section telescopic structure 34 contracts, the driving block 351 abuts against one side of the slider B25 and drives the slider B25 to move into the shell 2 along the length direction of the T-shaped slide groove. When the multi-section telescopic structure 34 is controlled to extend, the photovoltaic panel 3 at the end abuts against the inner wall of the end plate 22, and combined with the gravity of the end plate 22, the end plate 22 is controlled to flip open.

[0051] It can be known that after the end plate 22 is controlled to seal the open end of the shell 2 during use, in order to facilitate the limitation of the position of the end plate 22 and prevent the end plate 22 from swinging due to factors such as shaking during the handling operation of the handling robot, the present invention is respectively provided with a pin block structure and a pin rod structure that cooperate with each other on the inner wall surface of the end plate 22 and the inner top side surface of the shell 2.

[0052] Specifically, such as Figure 10-13The pin block structure provided by the present invention includes an outer sleeve 221 fixed to the inner wall of the end plate 22, an inner sleeve 223 sleeved in the outer sleeve 221, a pin block 224 connected to the end of the inner sleeve 223, and a spring 223 connected between the pin block 224 and the end plate 22; and a pin hole 225 is provided on the pin block 224, and an inclined surface A226 is provided on an inner side wall of the pin hole 225 away from the end plate 22; and the pin rod structure includes at least one telescopic cylinder 28 fixed to the inner top side surface of the shell 2, the end of the telescopic cylinder 28 is connected to the movable plate 281, and one side of the movable plate 281 is connected to an extension rod 282 that matches the pin block structure one by one, and the end of the extension rod 282 is provided with a pin rod 29 extending upward, and the side of the pin rod 29 close to the movable plate 281 is provided with an inclined surface B291 that matches the inclined surface A226.

[0053] Based on the setting of the pin block structure and the pin rod structure, after the folding mechanism is controlled to be retracted and the end plate 22 is driven to be closed, the telescopic cylinder 28 is controlled to be retracted, and the pin rod 29 is driven to be inserted into the pin hole 225, and under the action of the inclined surface A226 and the inclined surface B291, the inner wall surface of the end plate 22 is pushed close to the end surface of the shell 2; when the folding mechanism needs to be controlled to be unfolded, the telescopic cylinder 28 is first controlled to be extended, and the pin rod 29 is driven to slide out of the pin hole 225, thereby releasing the limiting effect of the pin block structure and the pin rod structure.

[0054] In order to facilitate the storage of photovoltaic electricity generated by the photovoltaic power generation mechanism and the solar panel 20, the present invention is provided with an electrical installation cavity inside the AGV trolley 1, and an energy storage module and a central processing unit are installed in the electrical installation cavity; a driving wheel and a motion actuator that controls the movement of the driving wheel are provided at the bottom of the AGV trolley 1; the energy storage module supplies power to the multi-section telescopic structure 34, the central processing unit, the telescopic cylinder 28 and the motion actuator; the central processing unit is connected to the telescopic cylinder 28 and the multi-section telescopic structure 34; the central processing unit communicates with the motion actuator through the CAN bus, and the control protocol adopts the J1939 standard.

[0055] like Figure 15-17The charging station of the photovoltaic power generation system includes a foundation pit 40 opened on the charging place 4, an annular groove 401 is provided on the inner wall of the foundation pit 40, and a support plate 400 rotating along the annular groove 401 is provided in the annular groove 401; a motor with an output end connected to the support plate 400 is provided on the bottom side of the foundation pit 40; a telescopic cylinder A41, a telescopic cylinder B42, a telescopic cylinder C43 and a telescopic cylinder D45 are fixed on the upper surface of the support plate 400; the telescopic cylinder A41, the telescopic cylinder B42, the telescopic cylinder C43 and the telescopic cylinder D45 are all telescopic hydraulic cylinders; it also includes a support platform 44, and the bottom side of the support platform 44 is provided with four A spherical sub-structure, the spherical sub-structure includes a fixed base fixed to the bottom side of the support platform 44, and a ball head connecting rod connected to the top of the telescopic hydraulic cylinder; an inclination sensor connected to the central processing unit is installed on the support platform 44; when in use, the AGV trolley 1 is controlled to move to the support platform 44, and the motor drives the support plate 400 to rotate according to the direction of light, and synchronously adjusts the telescopic cylinder A41, telescopic cylinder B42, telescopic cylinder C43 and telescopic cylinder D45 to extend and retract according to the incident angle of light, and combined with the setting of the inclination sensor, the control support platform 44 is at the optimal inclination during use, thereby facilitating the improvement of photovoltaic discovery efficiency.

[0056] In actual use, in order to clamp and fix the AGV trolley 1 located on the support platform 44 and prevent the AGV trolley 1 from sliding off the upper surface of the inclined support platform 44, the support plate 400 of the present invention is a rectangular plate, and baffles 441 are respectively provided on two adjacent edge sides; rectangular holes 442 are respectively provided on the other two adjacent edge sides of the support plate 400, and a clamping module for clamping and fixing the AGV trolley 1 parked on the support platform 44 is provided on the bottom side of the support plate 400; the clamping module includes a vertical rod 45 installed on the bottom side of the support plate 400 at the end of the rectangular hole 442, and a telescopic cylinder 2 452 is horizontally installed at the end of the vertical rod 45, and a vertical telescopic cylinder 3 454 is installed at the end of the telescopic cylinder 2 452 through a connecting block 453, and a push block 451 protruding from the rectangular hole 442 is installed on the top of the telescopic cylinder 3 454.

[0057] Based on the above, guide grooves 450 are set on both sides of the push block 451, and the two adjacent inner walls of the rectangular hole 442 are respectively provided with guide slides 443 that cooperate with the guide grooves 450; the open end of the foundation pit 40 is provided with a step portion 402 that cooperates with the support platform 44; the inner wall of the foundation pit 40 is provided with an avoidance groove 403 along its vertical direction for avoiding the clamping module.

[0058] Throughout this specification, references to terms such as "one embodiment," "example," or "specific example" indicate that the specific features, structures, materials, or characteristics described in conjunction with that embodiment or example are included in at least one embodiment or example of the present invention. In this specification, schematic representations of these terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

[0059] The preferred embodiments of the present invention disclosed above are intended only to help illustrate the present invention. These preferred embodiments do not exhaustively describe all details, nor do they limit the present invention to the specific embodiments described. Obviously, many modifications and variations are possible based on the content of this specification. These embodiments are selected and described in detail in this specification to better explain the principles and practical applications of the present invention, thereby enabling those skilled in the art to better understand and utilize the present invention. The present invention is limited only by the claims and their full scope and equivalents.

Claims

1. A transport robot, characterized in that: It comprises an AGV trolley (1), wherein at least one photovoltaic power generation mechanism is installed on the top of the AGV trolley (1); The photovoltaic power generation mechanism comprises a rectangular tubular housing (2), a plate-frame assembly being mounted in the middle of the housing (2) via a rotating shaft (21), and a photovoltaic panel assembly being connected to the end of the plate-frame assembly; The panel frame assembly is composed of a plurality of panel frames (100), and the photovoltaic panel assembly is composed of a plurality of photovoltaic panels (3); Two adjacent panel frames (100), two adjacent photovoltaic panels (3), and the photovoltaic panels (3) and the panel frames (100) are all connected via hinges A (30); A rotating shaft (21) is connected between two opposite side walls of the housing (2), and a shaft hole (301) rotatably engaged with the rotating shaft (21) is provided on the plate frame (100); A mounting block (33) is installed on the housing (2) at either end of the panel-frame assembly, a multi-section telescopic structure (34) that is telescopic in the horizontal direction is installed on one side of the mounting block (33), an end of the multi-section telescopic structure (34) is connected to a connecting block (32), a bearing is installed on the inner wall of the connecting block (32), and connecting shafts (31) are respectively provided at both ends of the photovoltaic panel (3) located at the farthest end of the photovoltaic panel assembly, and an end of the connecting shaft (31) is assembled on the bearing; When photovoltaic power generation is performed, the multi-section telescopic structure (34) is controlled to extend, thereby driving the plate frame assembly and the photovoltaic panel assembly to unfold, and the photovoltaic panel assembly extends from the housing (2); When carrying out a transport operation, the multi-section telescopic structure (34) is controlled to contract, thereby driving the plate frame assembly and the photovoltaic panel assembly to be stored. At this time, the plate frame assembly and the photovoltaic panel assembly are both located in the housing (2).

2. A handling robot according to claim 1, characterized in that: Two photovoltaic power generation mechanisms are provided on the top of the AGV vehicle (1), and the two photovoltaic power generation mechanisms are stacked; The axial directions of the shells (2) in the two photovoltaic power generation mechanisms are perpendicular to each other; A solar power generation panel (20) is provided on the top of the housing (2) of the photovoltaic power generation mechanism at the top.

3. A handling robot according to claim 1 or 2, characterized in that: The bottoms of both ends of the housing (2) are connected to end plates (22) via hinges B; Two vertical movable columns (26) are provided at both ends of the housing (2), and the two movable columns (26) are respectively located on both sides of the housing (2), and the two ends of the movable columns (26) are respectively connected to the slider A (24) and the slider B (25); The top and bottom of the housing (2) are respectively provided with a T-shaped guide rail (23) and a T-shaped slide groove that cooperate with the slider A (24) and the slider B (25); A connecting sleeve (27) is fixed to the movable column (26) via a bolt (271), one side of the connecting sleeve (27) is connected to a traction rope (270), and the end of the traction rope (270) is connected to the top of the inner wall of the end plate (22).

4. A handling robot according to claim 3, characterized in that: A rod sleeve (35) is fixed on the connecting block (32) and is sleeved on the outside of the multi-section telescopic structure (34). A protruding driving block (351) is provided at the end of the rod sleeve (35); When the multi-section telescopic structure (34) contracts, the driving block (351) abuts against one side of the slider B (25) and drives the slider B (25) to move into the housing (2) along the length direction of the T-shaped slide groove.

5. A handling robot according to claim 4, characterized in that: The inner wall surface of the end plate (22) and the inner top side surface of the shell (2) are respectively provided with a pin block structure and a pin rod structure that cooperate with each other; The pin block structure comprises an outer sleeve (221) fixed to the inner wall surface of the end plate (22), an inner sleeve (223) sleeved in the outer sleeve (221), a pin block (224) connected to the end of the inner sleeve (223), and a spring (223) connected between the pin block (224) and the end plate (22); A pin hole (225) is provided on the pin block (224), and an inclined surface A (226) is provided on an inner side wall of the pin hole (225) away from the end plate (22); The pin rod structure includes at least one telescopic cylinder (28) fixed on the inner top side of the shell (2), the end of the telescopic cylinder (28) is connected to the movable plate (281), one side of the movable plate (281) is connected to an extension rod (282) that matches the pin block structure one by one, the end of the extension rod (282) is provided with an upwardly extending pin rod (29), and the side of the pin rod (29) close to the movable plate (281) is provided with an inclined surface B (291) that matches the inclined surface A (226).

6. A handling robot according to claim 5, characterized in that: The AGV trolley (1) is provided with an electrical installation cavity inside, and an energy storage module and a central processing unit are installed in the electrical installation cavity; a driving wheel and a motion actuator for controlling the movement of the driving wheel are provided at the bottom of the AGV trolley (1); the energy storage module supplies power to the multi-section telescopic structure (34), the central processing unit, the telescopic cylinder (28) and the motion actuator; The central processing unit is connected to the telescopic cylinder 1 (28) and the multi-section telescopic structure (34).

7. A handling robot according to claim 6, characterized in that: The AGV (1) is also equipped with a sensor assembly consisting of a laser radar, a visual camera, an inertial measurement unit, an ultrasonic sensor, an infrared sensor and a 3D camera; The sensor component is connected to the central processing unit.

8. A photovoltaic power generation system, characterized in that: The method comprises a charging place, (4) wherein a plurality of charging stations are arranged on the charging place (4), and when in use, the transport robot according to claim 6 is controlled to move to the charging station for charging; The charging station includes a foundation pit (40) opened on the charging place (4), an annular groove (401) is provided on the inner wall of the foundation pit (40), and a support plate (400) is provided in the annular groove (401) and rotates along the annular groove (401); A motor with an output end connected to a support plate (400) is provided on the bottom side of the foundation pit (40); A telescopic cylinder A (41), a telescopic cylinder B (42), a telescopic cylinder C (43) and a telescopic cylinder D (45) are fixed to the upper surface of the support plate (400); the telescopic cylinder A (41), the telescopic cylinder B (42), the telescopic cylinder C (43) and the telescopic cylinder D (45) are all telescopic hydraulic cylinders; It also includes a support platform (44), wherein the bottom side of the support platform (44) is provided with four spherical surface auxiliary structures, and the spherical surface auxiliary structures include a fixed base fixed to the bottom side of the support platform (44) and a ball head connecting rod connected to the top of the telescopic hydraulic cylinder; The support platform (44) is provided with an inclination sensor connected to the central processing unit.

9. A photovoltaic power generation system according to claim 8, characterized in that: The support plate (400) is a rectangular plate, and baffles (441) are respectively provided on two adjacent edge sides thereof; Rectangular holes (442) are respectively provided on the other two adjacent edge sides of the support plate (400), and a clamping module for clamping and fixing the AGV trolley (1) parked on the support platform (44) is provided on the bottom side of the support plate (400); The clamping module includes a vertical rod (45) installed on the bottom side of the support plate (400) at the end of the rectangular hole (442), a telescopic cylinder 2 (452) is horizontally installed at the end of the vertical rod (45), a vertical telescopic cylinder 3 (454) is installed at the end of the telescopic cylinder 2 (452) through a connecting block (453), and a push block (451) protruding from the rectangular hole (442) is installed on the top of the telescopic cylinder 3 (454).

10. A photovoltaic power generation system according to claim 9, characterized in that: Guide grooves (450) are provided on both sides of the push block (451), and guide slides (443) cooperating with the guide grooves (450) are respectively provided on the adjacent inner walls of the rectangular hole (442); a step portion (402) cooperating with the support platform (44) is provided at the open end of the foundation pit (40); and an avoidance groove (403) for avoiding the clamping module is provided on the inner wall of the foundation pit (40) along its vertical direction.

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